//
// Created by lqk on 2022/1/30.
//

#include "DefaultGaitPlanner.h"

void Gait::Zero() {
    m_period=0.0;
    m_phaseSwitchPoint=0.0;
    m_phaseOffsets<<0.0,0.0,0.0,0.0;
}

DefaultGaitPlanner::DefaultGaitPlanner(const float &period) {
    m_trot.m_period=period;
    m_trot.m_phaseSwitchPoint=0.5;
    m_trot.m_phaseOffsets<<0.5,0.0,0.5,0.0;

    m_staticWalk.m_period=period;
    m_staticWalk.m_phaseSwitchPoint=0.8;
    m_staticWalk.m_phaseOffsets<<0.0,0.25,0.5,0.75;
}